diff --git a/src/modules/uavcan/sensors/baro.cpp b/src/modules/uavcan/sensors/baro.cpp
index 1986de4247..694a3988a1 100644
--- a/src/modules/uavcan/sensors/baro.cpp
+++ b/src/modules/uavcan/sensors/baro.cpp
@@ -159,7 +159,14 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const
 {
 	baro_report report;
 
-	report.timestamp   = msg.getMonotonicTimestamp().toUSec();
+	/*
+	 * FIXME HACK
+	 * This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
+	 * It stopped working when the time sync feature has been introduced, because it caused libuavcan
+	 * to use an independent time source (based on hardware TIM5) instead of HRT.
+	 * The proper solution is to be developed.
+	 */
+	report.timestamp   = hrt_absolute_time();
 	report.temperature = last_temperature_kelvin - 273.15F;
 	report.pressure    = msg.static_pressure / 100.0F;  // Convert to millibar
 	report.error_count = 0;
diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp
index 0830aba4ee..d80b4b425d 100644
--- a/src/modules/uavcan/sensors/gnss.cpp
+++ b/src/modules/uavcan/sensors/gnss.cpp
@@ -96,7 +96,15 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
 
 	auto report = ::vehicle_gps_position_s();
 
-	report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
+	/*
+	 * FIXME HACK
+	 * There used to be the following line of code:
+	 * 	report.timestamp_position = msg.getMonotonicTimestamp().toUSec();
+	 * It stopped working when the time sync feature has been introduced, because it caused libuavcan
+	 * to use an independent time source (based on hardware TIM5) instead of HRT.
+	 * The proper solution is to be developed.
+	 */
+	report.timestamp_position = hrt_absolute_time();
 	report.lat = msg.latitude_deg_1e8 / 10;
 	report.lon = msg.longitude_deg_1e8 / 10;
 	report.alt = msg.height_msl_mm;
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index d7110087ce..e184ff12fc 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -146,7 +146,14 @@ void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<ua
 {
 	lock();
 	_report.range_ga = 1.3F;   // Arbitrary number, doesn't really mean anything
-	_report.timestamp = msg.getMonotonicTimestamp().toUSec();
+	/*
+	 * FIXME HACK
+	 * This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
+	 * It stopped working when the time sync feature has been introduced, because it caused libuavcan
+	 * to use an independent time source (based on hardware TIM5) instead of HRT.
+	 * The proper solution is to be developed.
+	 */
+	_report.timestamp = hrt_absolute_time();
 
 	_report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
 	_report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;
diff --git a/src/platforms/px4_log.h b/src/platforms/px4_log.h
index e6540c20d2..5b7a65eeb6 100644
--- a/src/platforms/px4_log.h
+++ b/src/platforms/px4_log.h
@@ -63,7 +63,7 @@ static inline void do_nothing(int level, ...)
 #define PX4_ERR(...)	ROS_WARN(__VA_ARGS__)
 #define PX4_WARN(...) 	ROS_WARN(__VA_ARGS__)
 #define PX4_INFO(...) 	ROS_WARN(__VA_ARGS__)
-#define PX4_DEBUG(...) 	
+#define PX4_DEBUG(...)
 
 #elif defined(__PX4_QURT)
 #include "qurt_log.h"
@@ -137,13 +137,13 @@ __END_DECLS
  *
  * To write to a specific stream for each message type, open the streams and
  * set __px4__log_startline to something like:
- * 	if (level <= __px4_log_level_current) printf(_px4_fd[level], 
+ * 	if (level <= __px4_log_level_current) printf(_px4_fd[level],
  *
  * Additional behavior can be added using "{\" for __px4__log_startline and
  * "}" for __px4__log_endline and any other required setup or teardown steps
  ****************************************************************************/
-#define __px4__log_startcond(cond)	if (cond) printf(
-#define __px4__log_startline(level)	if (level <= __px4_log_level_current) printf(
+#define __px4__log_printcond(cond, ...)	    if (cond) printf(__VA_ARGS__)
+#define __px4__log_printline(level, ...)    if (level <= __px4_log_level_current) printf(__VA_ARGS__)
 
 #define __px4__log_timestamp_fmt	"%-10" PRIu64 " "
 #define __px4__log_timestamp_arg 	,hrt_absolute_time()
@@ -172,12 +172,12 @@ __END_DECLS
  * if the first arg/condition is true.
  ****************************************************************************/
 #define __px4_log_named_cond(name, cond, FMT, ...) \
-	__px4__log_startcond(cond)\
+	__px4__log_printcond(cond,\
 	"%s " \
 	FMT\
 	__px4__log_end_fmt \
 	,name, ##__VA_ARGS__\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log:
@@ -187,12 +187,12 @@ __END_DECLS
  * 	printf("%-5s val is %d\n", __px4_log_level_str[3], val);
  ****************************************************************************/
 #define __px4_log(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt \
 	FMT\
 	__px4__log_end_fmt \
 	__px4__log_level_arg(level), ##__VA_ARGS__\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_timestamp:
@@ -203,7 +203,7 @@ __END_DECLS
  *		hrt_absolute_time(), val);
  ****************************************************************************/
 #define __px4_log_timestamp(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	FMT\
@@ -211,7 +211,7 @@ __END_DECLS
 	__px4__log_level_arg(level)\
 	__px4__log_timestamp_arg\
 	, ##__VA_ARGS__\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_timestamp_thread:
@@ -222,7 +222,7 @@ __END_DECLS
  *		hrt_absolute_time(), pthread_self(), val);
  ****************************************************************************/
 #define __px4_log_timestamp_thread(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	__px4__log_thread_fmt\
@@ -232,18 +232,18 @@ __END_DECLS
 	__px4__log_timestamp_arg\
 	__px4__log_thread_arg\
 	, ##__VA_ARGS__\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_file_and_line:
  * Convert a message in the form:
  * 	PX4_WARN("val is %d", val);
  * to
- * 	printf("%-5s val is %d (file %s line %u)\n", 
+ * 	printf("%-5s val is %d (file %s line %u)\n",
  *		__px4_log_level_str[3], val, __FILE__, __LINE__);
  ****************************************************************************/
 #define __px4_log_file_and_line(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	FMT\
@@ -253,19 +253,19 @@ __END_DECLS
 	__px4__log_timestamp_arg\
 	, ##__VA_ARGS__\
 	__px4__log_file_and_line_arg\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_timestamp_file_and_line:
  * Convert a message in the form:
  * 	PX4_WARN("val is %d", val);
  * to
- * 	printf("%-5s %-10lu val is %d (file %s line %u)\n", 
+ * 	printf("%-5s %-10lu val is %d (file %s line %u)\n",
  *		__px4_log_level_str[3], hrt_absolute_time(),
  *		val, __FILE__, __LINE__);
  ****************************************************************************/
 #define __px4_log_timestamp_file_and_line(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	FMT\
@@ -275,19 +275,19 @@ __END_DECLS
 	__px4__log_timestamp_arg\
 	, ##__VA_ARGS__\
 	__px4__log_file_and_line_arg\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_thread_file_and_line:
  * Convert a message in the form:
  * 	PX4_WARN("val is %d", val);
  * to
- * 	printf("%-5s %#X val is %d (file %s line %u)\n", 
- *		__px4_log_level_str[3], pthread_self(), 
+ * 	printf("%-5s %#X val is %d (file %s line %u)\n",
+ *		__px4_log_level_str[3], pthread_self(),
  *		val, __FILE__, __LINE__);
  ****************************************************************************/
 #define __px4_log_thread_file_and_line(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_thread_fmt\
 	FMT\
@@ -297,19 +297,19 @@ __END_DECLS
 	__px4__log_thread_arg\
 	, ##__VA_ARGS__\
 	__px4__log_file_and_line_arg\
-	__px4__log_endline
+	)
 
 /****************************************************************************
  * __px4_log_timestamp_thread_file_and_line:
  * Convert a message in the form:
  * 	PX4_WARN("val is %d", val);
  * to
- * 	printf("%-5s %-10lu %#X val is %d (file %s line %u)\n", 
- *		__px4_log_level_str[3], hrt_absolute_time(), 
+ * 	printf("%-5s %-10lu %#X val is %d (file %s line %u)\n",
+ *		__px4_log_level_str[3], hrt_absolute_time(),
  *		pthread_self(), val, __FILE__, __LINE__);
  ****************************************************************************/
 #define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
-	__px4__log_startline(level)\
+	__px4__log_printline(level,\
 	__px4__log_level_fmt\
 	__px4__log_timestamp_fmt\
 	__px4__log_thread_fmt\
@@ -321,7 +321,7 @@ __END_DECLS
 	__px4__log_thread_arg\
 	, ##__VA_ARGS__\
 	__px4__log_file_and_line_arg\
-	__px4__log_endline
+	)
 
 
 /****************************************************************************
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index 8da9580207..86939ff686 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -233,7 +233,10 @@ esc_calib_main(int argc, char *argv[])
 		ret = poll(&fds, 1, 0);
 
 		if (ret > 0) {
-			read(0, &c, 1);
+			if (read(0, &c, 1) <= 0) {
+				printf("ESC calibration read error\n");
+				return 0;
+			}
 
 			if (c == 'y' || c == 'Y') {
 				break;
@@ -315,7 +318,10 @@ esc_calib_main(int argc, char *argv[])
 		ret = poll(&fds, 1, 0);
 
 		if (ret > 0) {
-			read(0, &c, 1);
+			if (read(0, &c, 1) <= 0) {
+				printf("ESC calibration read error\n");
+				goto done;
+			}
 
 			if (c == 13) {
 				break;
@@ -352,7 +358,10 @@ esc_calib_main(int argc, char *argv[])
 		ret = poll(&fds, 1, 0);
 
 		if (ret > 0) {
-			read(0, &c, 1);
+			if (read(0, &c, 1) <= 0) {
+				printf("ESC calibration read error\n");
+				goto done;
+			}
 
 			if (c == 13) {
 				break;